Increase publish rate of /joint_states

[chungshan]

Hi, is it possible to increase publish rate of /joint_states ?
Currently, it publishes at ~37Hz

subscribed to [/joint_states]
average rate: 36.982
	min: 0.026s max: 0.029s std dev: 0.00071s window: 37
average rate: 36.995
	min: 0.025s max: 0.029s std dev: 0.00078s window: 74

[ted-miller]

Hi @chungshan
You can increase the frequency by lowering the STATE_UPDATE_MIN_PERIOD in the MotoPlus code that runs on the robot controller.

motoman/motoman_driver/MotoPlus/StateServer.h

Line 35 in 7860ff5

#define STATE_UPDATE_MIN_PERIOD 25 // Time delay between each state update

@gavanderhoorn should know if there are any additional settings in motoman_driver on the PC that would need to be modified.

[gavanderhoorn]

Nothing needs to change in motoman_driver.

Unless you want absolute lowest latency, then perhaps you could change the JointState publishers to disable Nagle.

[chungshan]

Hi @ted-miller,
If I want to make it effect, I need to install the MotoPlus code from source, right?

[gavanderhoorn]

Yes, you would need to build MotoROS1 from the sources provided as part of motoman_driver.

Note that MotoROS1 isn't a Catkin package, so you can't build it as part of a ROS workspace. You need the MotoPlus SDK and build it using Visual Studio on Windows.